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<li class="navelem"><a class="el" href="namespacecollision.html">collision</a></li><li class="navelem"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
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<div class="title">collision::RectangleOBB Class Reference</div>  </div>
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<p>Oriented rectangle.  
 <a href="classcollision_1_1_rectangle_o_b_b.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>&gt;</code></p>
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Inheritance diagram for collision::RectangleOBB:</div>
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  <img src="classcollision_1_1_rectangle_o_b_b.png" usemap="#collision::RectangleOBB_map" alt=""/>
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<area href="classcollision_1_1_shape.html" title="Base prototype for the shape of an obstacle." alt="collision::Shape" shape="rect" coords="149,168,437,192"/>
<area href="classcollision_1_1_collision_object_ex.html" title="Provides functionality to use different collision solvers." alt="collision::CollisionObjectEx" shape="rect" coords="0,112,288,136"/>
<area href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object.html" alt="collision::solvers::solverFCL::IFCLCollisionObject" shape="rect" coords="298,112,586,136"/>
<area href="classcollision_1_1_collision_object.html" title="Base class for CollisionObjects and some of their groups." alt="collision::CollisionObject" shape="rect" coords="0,56,288,80"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a2c91a204b73722daddb227ba9ad062dd"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a2c91a204b73722daddb227ba9ad062dd">set_up_segments</a> (void)</td></tr>
<tr class="separator:a2c91a204b73722daddb227ba9ad062dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55b9c562ee0e3eb46556192e445bed2b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a55b9c562ee0e3eb46556192e445bed2b">RectangleOBB</a> (double _r_x, double _r_y, Eigen::Matrix2d _local_axes, const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</td></tr>
<tr class="separator:a55b9c562ee0e3eb46556192e445bed2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae7875c6a9e400c58d58c2d210029270b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#ae7875c6a9e400c58d58c2d210029270b">RectangleOBB</a> (double _r_x, double _r_y, double angle, const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</td></tr>
<tr class="separator:ae7875c6a9e400c58d58c2d210029270b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a57db74397a9155f78d92fd8d8f6d2908"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a57db74397a9155f78d92fd8d8f6d2908">getCollisionObjectType</a> () const</td></tr>
<tr class="separator:a57db74397a9155f78d92fd8d8f6d2908"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ddf46a0414316e34c8d1d28726bfb91"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a2ddf46a0414316e34c8d1d28726bfb91">rayTrace</a> (const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;intersect) const override</td></tr>
<tr class="separator:a2ddf46a0414316e34c8d1d28726bfb91"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05afea8c0cadae1b91ba82c7c0b5186b"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a05afea8c0cadae1b91ba82c7c0b5186b">~RectangleOBB</a> ()</td></tr>
<tr class="separator:a05afea8c0cadae1b91ba82c7c0b5186b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af6c2d7e4545ed7a7c59f5e80e4a84612"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#af6c2d7e4545ed7a7c59f5e80e4a84612">RectangleOBB</a> (const <a class="el" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;copy)</td></tr>
<tr class="separator:af6c2d7e4545ed7a7c59f5e80e4a84612"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aedc9a67415d132222cc2a3035b7ff30c"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#aedc9a67415d132222cc2a3035b7ff30c">clone</a> () const</td></tr>
<tr class="separator:aedc9a67415d132222cc2a3035b7ff30c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a95730f2c860668929a2a1b50a128ba9d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a95730f2c860668929a2a1b50a128ba9d">print</a> (std::ostringstream &amp;stream) const</td></tr>
<tr class="memdesc:a95730f2c860668929a2a1b50a128ba9d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print all parameters of the shape.  <a href="#a95730f2c860668929a2a1b50a128ba9d">More...</a><br /></td></tr>
<tr class="separator:a95730f2c860668929a2a1b50a128ba9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3b3854d1ce60d7d9f48955f50f371ecd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a3b3854d1ce60d7d9f48955f50f371ecd">createFCLCollisionGeometry</a> (void) const override</td></tr>
<tr class="separator:a3b3854d1ce60d7d9f48955f50f371ecd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1f3b229ecf1b4ac48e7d42ddba508a48"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classfcl_1_1_collision_object.html">fcl::CollisionObject</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a1f3b229ecf1b4ac48e7d42ddba508a48">createFCLCollisionObject</a> (const std::shared_ptr&lt; <a class="el" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt;&gt; &amp;) const override</td></tr>
<tr class="separator:a1f3b229ecf1b4ac48e7d42ddba508a48"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a086a8835723ac7259881e1d7b9591d6d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a086a8835723ac7259881e1d7b9591d6d">type</a> () const</td></tr>
<tr class="memdesc:a086a8835723ac7259881e1d7b9591d6d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get shape type.  <a href="#a086a8835723ac7259881e1d7b9591d6d">More...</a><br /></td></tr>
<tr class="separator:a086a8835723ac7259881e1d7b9591d6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a62c69f93584a09fcc31eeccb1f2a112e"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">local_axes</a> () const</td></tr>
<tr class="separator:a62c69f93584a09fcc31eeccb1f2a112e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5cfea2e440f65accfb67cd78e724a24f"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">local_x_axis</a> () const</td></tr>
<tr class="separator:a5cfea2e440f65accfb67cd78e724a24f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2330ee7b137e45dec9549d3d2e13dd03"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a2330ee7b137e45dec9549d3d2e13dd03">local_y_axis</a> () const</td></tr>
<tr class="separator:a2330ee7b137e45dec9549d3d2e13dd03"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa04315b4bc2bc28d1ced5223a06160d7"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">r</a> () const</td></tr>
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<tr class="memitem:ae542035df12cdfaf986251bcd0ba0d8c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#ae542035df12cdfaf986251bcd0ba0d8c">r</a> (int i) const</td></tr>
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<tr class="memitem:a357c27f00803a8d358a24ebea1fff74b"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">r_x</a> () const</td></tr>
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<tr class="memitem:ae767114da43f038e805f6bd6aada716b"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">r_y</a> () const</td></tr>
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<tr class="memitem:ab0b008668e465f6749c032b07e1f2bc8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#ab0b008668e465f6749c032b07e1f2bc8">set_local_x_axis</a> (const Eigen::Vector2d &amp;x_axis)</td></tr>
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<tr class="memitem:a2b5dca59c8add0c53926a42a913ea9fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a2b5dca59c8add0c53926a42a913ea9fb">set_local_y_axis</a> (const Eigen::Vector2d &amp;y_axis)</td></tr>
<tr class="separator:a2b5dca59c8add0c53926a42a913ea9fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2730304a6cc511eaeae9d1f37b378155"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a2730304a6cc511eaeae9d1f37b378155">set_r_x</a> (double _r_x)</td></tr>
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<tr class="memitem:abe7c0bcc2941ee9bd12a1b5830c9985e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#abe7c0bcc2941ee9bd12a1b5830c9985e">set_r_y</a> (double _r_y)</td></tr>
<tr class="separator:abe7c0bcc2941ee9bd12a1b5830c9985e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac0eaf867fc267e1b3fcf33cb1a9fc1d2"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#ac0eaf867fc267e1b3fcf33cb1a9fc1d2">squareDisToPoint</a> (const Eigen::Vector2d &amp;p) const</td></tr>
<tr class="separator:ac0eaf867fc267e1b3fcf33cb1a9fc1d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a59a86900106365857ad6df33f72540c1"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a59a86900106365857ad6df33f72540c1">segments</a> (void) const</td></tr>
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<tr class="inherit_header pub_methods_classcollision_1_1_shape"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_shape')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_shape.html">collision::Shape</a></td></tr>
<tr class="memitem:a7f344a99a3e155fb725d750321350fe7 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">CollisionObjectClass</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a7f344a99a3e155fb725d750321350fe7">getCollisionObjectClass</a> () const override</td></tr>
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<tr class="memitem:a707571ba3a684c0ef61c82b099ea8035 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">ISolverEntity_FCL</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a707571ba3a684c0ef61c82b099ea8035">getFclInterface</a> () const override</td></tr>
<tr class="separator:a707571ba3a684c0ef61c82b099ea8035 inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8e7fe1b16ef1ee803d511b593ae2936 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#ac8e7fe1b16ef1ee803d511b593ae2936">Shape</a> (const <a class="el" href="classcollision_1_1_shape.html">Shape</a> &amp;copy)</td></tr>
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<tr class="memitem:aca9a2f6e0de0822e241e39dad9c419ce inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a> () const</td></tr>
<tr class="memdesc:aca9a2f6e0de0822e241e39dad9c419ce inherit pub_methods_classcollision_1_1_shape"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get geometric center of shape.  <a href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">More...</a><br /></td></tr>
<tr class="separator:aca9a2f6e0de0822e241e39dad9c419ce inherit pub_methods_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a690571543f14979499df6fbada671f1f inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">center_x</a> () const</td></tr>
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<tr class="memitem:aabac3270d60bb5affed693af36fd39d8 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">center_y</a> () const</td></tr>
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<tr class="memitem:a55dc047a30f0c61947d0bb46df3af8dd inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a55dc047a30f0c61947d0bb46df3af8dd">set_center</a> (const Eigen::Vector2d &amp;_center)</td></tr>
<tr class="memdesc:a55dc047a30f0c61947d0bb46df3af8dd inherit pub_methods_classcollision_1_1_shape"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set geometric center of shape.  <a href="classcollision_1_1_shape.html#a55dc047a30f0c61947d0bb46df3af8dd">More...</a><br /></td></tr>
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<tr class="memitem:a2bec0ccd43f30004758b2112b46659d4 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a2bec0ccd43f30004758b2112b46659d4">timeSlice</a> (int time_idx, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) const</td></tr>
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<tr class="memitem:ad2b8994c5daeaab71cb04a73a6de8b0f inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#ad2b8994c5daeaab71cb04a73a6de8b0f">radius</a> () const</td></tr>
<tr class="memdesc:ad2b8994c5daeaab71cb04a73a6de8b0f inherit pub_methods_classcollision_1_1_shape"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get radius.  <a href="classcollision_1_1_shape.html#ad2b8994c5daeaab71cb04a73a6de8b0f">More...</a><br /></td></tr>
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<tr class="memitem:a1efc0d3437abbac61d5c444b9d1becf5 inherit pub_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a1efc0d3437abbac61d5c444b9d1becf5">~Shape</a> ()</td></tr>
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<tr class="inherit_header pub_methods_classcollision_1_1_collision_object_ex"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_collision_object_ex')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></td></tr>
<tr class="memitem:a358c5ace931619be56d441bdd8da4762 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a358c5ace931619be56d441bdd8da4762">CollisionObjectEx</a> ()</td></tr>
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<tr class="memitem:a8c5a1b6ed938b80cd858d9107684ca9f inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a8c5a1b6ed938b80cd858d9107684ca9f">~CollisionObjectEx</a> ()</td></tr>
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<tr class="memitem:a7fa9738682fe6d4cdef843e99fa5e693 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a7fa9738682fe6d4cdef843e99fa5e693">collide</a> (const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;c, const <a class="el" href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a> &amp;req=<a class="el" href="classcollision_1_1_collision_request.html">CollisionRequest</a>()) const</td></tr>
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<tr class="memitem:a50d6ae971b8c05c6ad8e876ed3141733 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a50d6ae971b8c05c6ad8e876ed3141733">BVCheck</a> (<a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2) const</td></tr>
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<tr class="memitem:a7cbe600ed254b8e9ae54fd1e658d6991 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual std::shared_ptr&lt; const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a7cbe600ed254b8e9ae54fd1e658d6991">getAABB</a> () const</td></tr>
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<tr class="memitem:a1e96193008a86cfe46c873d358aadc67 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a1e96193008a86cfe46c873d358aadc67">getSolverEntity</a> (<a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *&amp;ptr) const</td></tr>
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<tr class="memitem:a13442077fa8b22d7af2ae035dec5debe inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a13442077fa8b22d7af2ae035dec5debe">getContainerInterface</a> (void) const</td></tr>
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<tr class="inherit_header pub_methods_classcollision_1_1_collision_object"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_collision_object')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></td></tr>
<tr class="memitem:a96352a5369914c677a8f826b68028205 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a96352a5369914c677a8f826b68028205">~CollisionObject</a> ()</td></tr>
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<tr class="memitem:a9bc84c4dd5f378403d31393326a0644e inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a9bc84c4dd5f378403d31393326a0644e">toString</a> (std::ostringstream &amp;stream) const</td></tr>
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<tr class="memitem:a525c0826bd7ef13b2fe62868d3e49d30 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a525c0826bd7ef13b2fe62868d3e49d30">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map) const</td></tr>
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<tr class="memitem:a8b14d81e4da802dd2a5f805162cf6ad4 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a8b14d81e4da802dd2a5f805162cf6ad4">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> parent) const</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a67cc523022bbc10c1ab236f5698058e5"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a></td></tr>
<tr class="separator:a67cc523022bbc10c1ab236f5698058e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a19db3ff83faa7e816a34f95a0e96041d"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">segments_</a></td></tr>
<tr class="separator:a19db3ff83faa7e816a34f95a0e96041d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a306345177177a000bc480b3867e8113a"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a></td></tr>
<tr class="memdesc:a306345177177a000bc480b3867e8113a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Positive halfwidth extents of OBB along each axis.  <a href="#a306345177177a000bc480b3867e8113a">More...</a><br /></td></tr>
<tr class="separator:a306345177177a000bc480b3867e8113a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a397b619573e160d18954605a11f7bd"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a3a397b619573e160d18954605a11f7bd">center_</a></td></tr>
<tr class="separator:a3a397b619573e160d18954605a11f7bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab453849fed42ee9769df87210ca5262d"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#ab453849fed42ee9769df87210ca5262d">radius_</a></td></tr>
<tr class="separator:ab453849fed42ee9769df87210ca5262d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classcollision_1_1_shape"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcollision_1_1_shape')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcollision_1_1_shape.html">collision::Shape</a></td></tr>
<tr class="memitem:a3a397b619573e160d18954605a11f7bd inherit pro_attribs_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a></td></tr>
<tr class="separator:a3a397b619573e160d18954605a11f7bd inherit pro_attribs_classcollision_1_1_shape"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab453849fed42ee9769df87210ca5262d inherit pro_attribs_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">radius_</a></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-attribs"></a>
Static Protected Attributes</h2></td></tr>
<tr class="memitem:a0dab84cbeaa143014b0b84557c6cfa1a"><td class="memItemLeft" align="right" valign="top">static constexpr <a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a0dab84cbeaa143014b0b84557c6cfa1a">type_</a> = <a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a45283ddf1b79bad61b43fbed57016185">TYPE_RECTANGLE_OBB</a></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_methods_classcollision_1_1_shape"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcollision_1_1_shape')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcollision_1_1_shape.html">collision::Shape</a></td></tr>
<tr class="memitem:a8aa65a2f272b0bfd2af0435307c082e1 inherit pro_methods_classcollision_1_1_shape"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a8aa65a2f272b0bfd2af0435307c082e1">Shape</a> (const Eigen::Vector2d &amp;_center)</td></tr>
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<tr class="inherit_header pro_methods_classcollision_1_1_collision_object_ex"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcollision_1_1_collision_object_ex')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></td></tr>
<tr class="memitem:ab080033cf96284d10d0a7950bf2fd595 inherit pro_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a> (void)</td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Oriented rectangle. </p>

<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00016">16</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a55b9c562ee0e3eb46556192e445bed2b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a55b9c562ee0e3eb46556192e445bed2b">&#9670;&nbsp;</a></span>RectangleOBB() <span class="overload">[1/3]</span></h2>

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          <td class="memname">collision::RectangleOBB::RectangleOBB </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_r_x</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_r_y</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Matrix2d&#160;</td>
          <td class="paramname"><em>_local_axes</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>_center</em> = <code>Eigen::Vector2d(0,&#160;0)</code>&#160;</td>
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          <td>)</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00037">37</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>

</div>
</div>
<a id="ae7875c6a9e400c58d58c2d210029270b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae7875c6a9e400c58d58c2d210029270b">&#9670;&nbsp;</a></span>RectangleOBB() <span class="overload">[2/3]</span></h2>

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          <td class="memname">collision::RectangleOBB::RectangleOBB </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_r_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>_r_y</em>, </td>
        </tr>
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          <td class="paramkey"></td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>angle</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>_center</em> = <code>Eigen::Vector2d(0,&#160;0)</code>&#160;</td>
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          <td></td><td></td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00044">44</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a05afea8c0cadae1b91ba82c7c0b5186b">&#9670;&nbsp;</a></span>~RectangleOBB()</h2>

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          <td class="memname">virtual collision::RectangleOBB::~RectangleOBB </td>
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          <td></td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00059">59</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#af6c2d7e4545ed7a7c59f5e80e4a84612">&#9670;&nbsp;</a></span>RectangleOBB() <span class="overload">[3/3]</span></h2>

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          <td class="memname">collision::RectangleOBB::RectangleOBB </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;&#160;</td>
          <td class="paramname"><em>copy</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00043">43</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aedc9a67415d132222cc2a3035b7ff30c">&#9670;&nbsp;</a></span>clone()</h2>

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          <td class="memname"><a class="el" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> * collision::RectangleOBB::clone </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Implements <a class="el" href="classcollision_1_1_shape.html#a2eb0283fa4f04436df2f1ec2937b064f">collision::Shape</a>.</p>

<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00041">41</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a3b3854d1ce60d7d9f48955f50f371ecd">&#9670;&nbsp;</a></span>createFCLCollisionGeometry()</h2>

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          <td class="memname"><a class="el" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt; * collision::RectangleOBB::createFCLCollisionGeometry </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Implements <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object.html#a4a674ecf559b2e39e920a71c4200ef09">collision::solvers::solverFCL::IFCLCollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00013">13</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a1f3b229ecf1b4ac48e7d42ddba508a48">&#9670;&nbsp;</a></span>createFCLCollisionObject()</h2>

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          <td class="memname"><a class="el" href="classfcl_1_1_collision_object.html">fcl::CollisionObject</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt; * collision::RectangleOBB::createFCLCollisionObject </td>
          <td>(</td>
          <td class="paramtype">const std::shared_ptr&lt; <a class="el" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a>&lt; <a class="el" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ae5b7c160709b3db6237138bf7e719d9a">FCL_PRECISION</a> &gt;&gt; &amp;&#160;</td>
          <td class="paramname"><em>col_geom</em></td><td>)</td>
          <td> const</td>
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<p>Implements <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object.html#afd71a4be381f0e633046a4da668aea96">collision::solvers::solverFCL::IFCLCollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00016">16</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a57db74397a9155f78d92fd8d8f6d2908">&#9670;&nbsp;</a></span>getCollisionObjectType()</h2>

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          <td class="memname">virtual <a class="el" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a> collision::RectangleOBB::getCollisionObjectType </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00052">52</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a62c69f93584a09fcc31eeccb1f2a112e">&#9670;&nbsp;</a></span>local_axes()</h2>

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          <td class="memname">Eigen::Matrix2d collision::RectangleOBB::local_axes </td>
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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00061">61</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a5cfea2e440f65accfb67cd78e724a24f">&#9670;&nbsp;</a></span>local_x_axis()</h2>

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          <td class="memname">Eigen::Vector2d collision::RectangleOBB::local_x_axis </td>
          <td>(</td>
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          <td> const</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00063">63</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2330ee7b137e45dec9549d3d2e13dd03">&#9670;&nbsp;</a></span>local_y_axis()</h2>

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          <td class="memname">Eigen::Vector2d collision::RectangleOBB::local_y_axis </td>
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          <td> const</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00067">67</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a95730f2c860668929a2a1b50a128ba9d">&#9670;&nbsp;</a></span>print()</h2>

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          <td class="memname">void collision::RectangleOBB::print </td>
          <td>(</td>
          <td class="paramtype">std::ostringstream &amp;&#160;</td>
          <td class="paramname"><em>stream</em></td><td>)</td>
          <td> const</td>
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<p>Print all parameters of the shape. </p>

<p>Implements <a class="el" href="classcollision_1_1_shape.html#aa415ef83e29916ba893fd3452eb06290">collision::Shape</a>.</p>

<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00053">53</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa04315b4bc2bc28d1ced5223a06160d7">&#9670;&nbsp;</a></span>r() <span class="overload">[1/2]</span></h2>

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          <td class="memname">Eigen::Vector2d collision::RectangleOBB::r </td>
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          <td> const</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00071">71</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae542035df12cdfaf986251bcd0ba0d8c">&#9670;&nbsp;</a></span>r() <span class="overload">[2/2]</span></h2>

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          <td class="memname">double collision::RectangleOBB::r </td>
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          <td class="paramname"><em>i</em></td><td>)</td>
          <td> const</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00073">73</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a357c27f00803a8d358a24ebea1fff74b">&#9670;&nbsp;</a></span>r_x()</h2>

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          <td class="memname">double collision::RectangleOBB::r_x </td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00084">84</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae767114da43f038e805f6bd6aada716b">&#9670;&nbsp;</a></span>r_y()</h2>

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          <td class="memname">double collision::RectangleOBB::r_y </td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00086">86</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2ddf46a0414316e34c8d1d28726bfb91">&#9670;&nbsp;</a></span>rayTrace()</h2>

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          <td class="paramtype">std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>intersect</em>&#160;</td>
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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a43b2608cfc67b33f4aa4216e11a9990d">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00025">25</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a59a86900106365857ad6df33f72540c1">&#9670;&nbsp;</a></span>segments()</h2>

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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00099">99</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab0b008668e465f6749c032b07e1f2bc8">&#9670;&nbsp;</a></span>set_local_x_axis()</h2>

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          <td class="memname">void collision::RectangleOBB::set_local_x_axis </td>
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          <td class="paramname"><em>x_axis</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00088">88</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2b5dca59c8add0c53926a42a913ea9fb">&#9670;&nbsp;</a></span>set_local_y_axis()</h2>

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          <td class="memname">void collision::RectangleOBB::set_local_y_axis </td>
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          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>y_axis</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00093">93</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2730304a6cc511eaeae9d1f37b378155">&#9670;&nbsp;</a></span>set_r_x()</h2>

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          <td class="memname">void collision::RectangleOBB::set_r_x </td>
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          <td class="paramname"><em>_r_x</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00098">98</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#abe7c0bcc2941ee9bd12a1b5830c9985e">&#9670;&nbsp;</a></span>set_r_y()</h2>

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          <td class="memname">void collision::RectangleOBB::set_r_y </td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00103">103</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2c91a204b73722daddb227ba9ad062dd">&#9670;&nbsp;</a></span>set_up_segments()</h2>

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          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW void collision::RectangleOBB::set_up_segments </td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00021">21</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac0eaf867fc267e1b3fcf33cb1a9fc1d2">&#9670;&nbsp;</a></span>squareDisToPoint()</h2>

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          <td class="memname">double collision::RectangleOBB::squareDisToPoint </td>
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<p>Project translation vector t in OBB's local coordinate system </p>

<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00108">108</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a086a8835723ac7259881e1d7b9591d6d">&#9670;&nbsp;</a></span>type()</h2>

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          <td class="memname"><a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> collision::RectangleOBB::type </td>
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<p>Get shape type. </p>

<p>Implements <a class="el" href="classcollision_1_1_shape.html#ac80f4a8216ca9f78e0a55dcc4dd4bb6e">collision::Shape</a>.</p>

<p class="definition">Definition at line <a class="el" href="rectangle__obb_8cc_source.html#l00051">51</a> of file <a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
<a id="a3a397b619573e160d18954605a11f7bd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3a397b619573e160d18954605a11f7bd">&#9670;&nbsp;</a></span>center_</h2>

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<p class="definition">Definition at line <a class="el" href="shape_8h_source.html#l00071">71</a> of file <a class="el" href="shape_8h_source.html">shape.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a67cc523022bbc10c1ab236f5698058e5">&#9670;&nbsp;</a></span>local_axes_</h2>

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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00110">110</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a306345177177a000bc480b3867e8113a">&#9670;&nbsp;</a></span>r_</h2>

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<p>Positive halfwidth extents of OBB along each axis. </p>

<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00115">115</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab453849fed42ee9769df87210ca5262d">&#9670;&nbsp;</a></span>radius_</h2>

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<p class="definition">Definition at line <a class="el" href="shape_8h_source.html#l00072">72</a> of file <a class="el" href="shape_8h_source.html">shape.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a19db3ff83faa7e816a34f95a0e96041d">&#9670;&nbsp;</a></span>segments_</h2>

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          <td class="memname">std::vector&lt;<a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a>&gt; collision::RectangleOBB::segments_</td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00112">112</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a0dab84cbeaa143014b0b84557c6cfa1a">&#9670;&nbsp;</a></span>type_</h2>

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          <td class="memname">constexpr <a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> collision::RectangleOBB::type_ = <a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a45283ddf1b79bad61b43fbed57016185">TYPE_RECTANGLE_OBB</a></td>
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<p class="definition">Definition at line <a class="el" href="rectangle__obb_8h_source.html#l00117">117</a> of file <a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>cpp/collision/include/collision/narrowphase/<a class="el" href="rectangle__obb_8h_source.html">rectangle_obb.h</a></li>
<li>cpp/collision/src/narrowphase/<a class="el" href="rectangle__obb_8cc_source.html">rectangle_obb.cc</a></li>
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